JP3245392B2 - Radio control device for model - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radio control apparatus for remotely controlling a steered body wirelessly in accordance with an operation amount of a stick lever. For example, a helicopter having a different servo output between hovering and above the sky is used as the steered body. The present invention relates to a model radio control device suitable for remote control by radio.

[0002]

2. Description of the Related Art In a model radio control device for remotely controlling a steered object such as a model car, boat, airplane, helicopter or the like by radio, a fixed length is obtained by variably controlling the resistance value of a variable resistor by operating a stick lever. The operation signal is a frame signal (baseband serial signal for each channel), and this operation signal is modulated at a high frequency and transmitted from the transmitter. The receiver mounted on the steered body receives the radio wave transmitted from the transmitter, demodulates the radio wave, and allocates the data to each channel. The movement amounts of the various servo devices of the steered body are varied based on this data, and the speed, direction, posture, and the like of the steered body are controlled.

On the transmitter side, there is provided a trim switch for adjusting the servo output of the servo device of the steered body by changing the resistance value of the variable resistor with respect to the neutral position when the stick lever is not operated. Is provided.

By the way, when the steered object remotely controlled by operating the stick lever of the transmitter as described above is a helicopter, the characteristics of the throttle and pitch servo operation amount with respect to the stick lever are different between hovering and flying above. (Throttle curve, pitch curve, pitch → rudder mixing, etc.) and the position of the trim switch are different.

Therefore, on the transmitter side, for example, FIG.
(A), (b), FIG. 7 (a), (b), FIG. 8 (a),
As shown in (b), the servo output of the servo device of the throttle and the pitch for the stick lever at the time of hovering and flying over (looping over the air, stall turn or roll performance) is stored in advance as data.

When a steered object is remotely controlled, a plurality of servo devices may be operated (mixing operation) by operating one stick lever. For example, when the steered body is a helicopter, the operation of each servo device of the pitch of the throttle and the main rotor and the operation of the servo device of the pitch of the tail rotor are performed by operating one stick lever.

For this reason, the servo output of the pitch-to-ladder mixing servo device with respect to the stick lever, as shown in FIG. 6 (c), FIG. 7 (c), and FIG. And stored respectively.

[0008] The trim switch is also changed to a trim position suitable for the flight condition, and a mixing amount suitable for each of hovering and flying above is set.

When the steered body is remotely controlled, data suitable for each of the flight states during hovering and flying above the airplane can be selectively set by operating a changeover switch.

However, if the servo device operates immediately after the changeover switch is switched, the servo output may change due to the offset of the mixing amount of the trim switch, and the attitude of the machine may suddenly change.

Therefore, the transmitter has a delay function for operating the servo device at a speed lower than the operating speed of the main body to a position to which the transmitter should originally reach after the changeover switch is switched. The delay function here is a function of operating the servo device at a speed lower than the original operation speed of the servo device to a position where the servo device must reach in order to prevent a sudden change in the attitude of the aircraft.

When the operation by the delay function is completed, the operation returns to the normal operation, and the servo device operates immediately following the operation of the stick lever.

Incidentally, even when the steered object is an airplane, the elevator may be provided with a delay function in order to prevent the attitude from being disturbed when the air brake is turned on.

Conventionally, when the above-mentioned delay function is operated, when the delay function is performed not only by the offset amount of the mixing amount by the trim switch when the changeover switch is switched but also by the operation amount of the stick lever,
In some cases, the delay is operated only by the offset of the mixing amount by the trim switch when the changeover switch is switched. In addition, a delay amount for delaying the operation of the servo device can be set.

FIG. 9 is a flowchart showing the operation when the delay is operated only by the offset of the mixing amount by the trim switch when the changeover switch is switched. Note that the processing shown in the flowchart of FIG. 9 is executed every frame (for example, 30 msec).

First, it is detected whether or not switching has been performed by operating a changeover switch for selecting a set value according to the flight condition (ST51). When the changeover switch is switched (ST51-Yes), the change amount buf of the servo device during the delay operation is cleared to 0 (ST52). afterwards,
Counter initial value (movement amount) cn corresponding to delay amount
t is set (ST53). Counter initial value cnt
Is the count start value C of the delay amount 100% (maximum value)
By the NT _MAX and the rate of the delay amount rate, CN
It is calculated from T _MAX × (rate / 100).

Next, offset mixing data (mixing amount of trim switch) old of one frame before is
The position sta of the servo device at the start of the delay is set (ST54). Then, the position sta is subtracted from the offset mixing data ofs, and the value is set as the movement amount mov of the servo performing the delay operation (ST5).
4).

Next, the remaining movement amount of the servo device is calculated from the difference between the current position of the servo device and the target position of the servo device to be originally reached. In the flowchart of FIG. 9, based on the initial value cnt of the counter, the movement amount mov of the servo device performing the delay operation, and the change amount buf of the servo device during the delay operation, (mov-buf) / cnt + b
uf, and the value is set to buf (ST
55).

The remaining movement amount buf of the servo device is
Is added to the servo movement amount sta at the start of the delay, and the value obtained by subtracting the trim amount trm is obtained as a mixing amount mix.
(ST56). Thereafter, the initial value cnt of the counter is decremented by one (ST57), and the processing for one frame is completed.

In the above operation, if the switch is not switched (ST51-No), the initial value of the counter cnt
Is determined to be 0, in other words, whether or not the delay operation has ended (ST58). If the initial value cnt of the counter is not 0 (ST58-No), the above ST5
5 is executed. If the initial value cnt of the counter is 0 (ST58-Yes), the offset mixing data ofs is set to old as the offset mixing data of one frame before and output as the mixing amount mix (ST59).

Then, as described above, the mixing amount mi
When x is calculated, a value obtained by adding the stick operation amount stk and the trim operation amount trm to the mixing amount mix is output to the servo device as the servo operation amount srv.

[0022]

However, in the method of performing the delay operation by calculating the delay amount including not only the offset amount of the mixing amount by the trim switch when switching the changeover switch but also the stick operation amount, the delay operation is performed during the delay operation. When the stick lever is operated, the delay operation is continued even if the user tries to quickly operate the correction rudder by operating the stick lever, so that the correction rudder is delayed, and there is a problem that the desired steering cannot be performed.

Further, as shown in the flowchart of FIG. 9, in the method of performing the delay operation by calculating the delay amount only for the offset of the mixing amount by the trim switch when the changeover switch is switched, the stick lever is operated during the delay operation. When operated, only the operation by the operation of the stick lever operates at the normal speed, and the operation of the delay operation is delayed. For this reason, the servo device
The operation direction of the delay operation and the operation direction of the operation of the stick lever are reversed,
There is a problem that the steered body fluctuates, the posture is disturbed, and stable steering cannot be performed.

In view of the above, the present invention has been made in view of the above-mentioned problems. Even during a delay operation, a quick correction rudder that follows the operation of a stick lever is struck to stably operate a steered body as instructed by an operator. It is an object of the present invention to provide a model radio control device that can be steered.

[0025]

In order to achieve the above object, the invention according to claim 1 is characterized in that a plurality of types of characteristic data indicating the servo output of the servo device of the steered body 1 with respect to the operation amount of the stick levers 7A and 7B are stored. A switching means for switching the characteristic data in accordance with an operation state of the steered body; and a servo for an operation amount of the stick lever based on the characteristic data switched and selected by the switching means. A transmitter 2 for transmitting an operation signal including output data, and a receiver 13 mounted on the steered body 1 for controlling an output of the servo device based on the operation signal transmitted from the transmitter 2 In the radio control device for a model, the stick lever 7A,
Output varying means 8 for varying the servo output of the servo device with respect to the neutral position of the stick 7B;
When (or 7B) is not operated beyond the set value a and the characteristic data is switched by the switching means 9, the offset amount by the output varying means 8 is delayed and transmitted, and during the delay operation, the offset amount is transmitted. When the stick lever 7A (or 7B) is operated beyond the set value a, the delay operation is interrupted and the stick lever 7A is stopped.
The transmitter 2 is characterized in that the transmitter 2 is provided with an arithmetic processing means 4 for transmitting a servo output of characteristic data corresponding to the operation amount of (7B).

A second aspect of the present invention relates to the model radio control device according to the first aspect, wherein the servo outputs of the plurality of servo devices of the steered body 1 with respect to the operation amount of one stick lever 7A (or 7B) are shown. A plurality of types of characteristic data are stored, and are switched and selected by the switching means 9 to one of the characteristic data.

According to a third aspect of the present invention, in the radio control apparatus for a model according to the first or second aspect, the arithmetic processing means 4 operates the stick lever 7A during the delay operation.
When (or 7B) is operated beyond the set value a, the servo output to the corresponding servo device is recalculated, including the operation amount by operating the stick lever 7A (or 7B) and the variable amount by the output varying means 8. It is characterized by doing.

[0028]

FIG. 1 is a block diagram showing a schematic configuration of a transmitter in a radio control apparatus for a model according to the present invention. FIG. 2 is a perspective view of a model helicopter and a transmitter as a steered body equipped with a receiver. FIG.

The model radio control device has a transmitter 2 for modulating an operation signal for remotely controlling the steered body 1 at a high frequency and transmitting a radio wave. As shown in FIG. 1 or FIG. 2, the transmitter 2 includes an input unit 3, an arithmetic processing unit 4,
A high-frequency circuit 5 and an antenna 6 are schematically provided. The input means 3 includes a stick lever device 7, a trim switch 8 as output varying means, a changeover switch 9 as changeover means, and an edit key 10 as setting means.

An example in which a helicopter is remotely controlled as the steered body 1 will be described. As shown in FIG.
Helicopter 1A is main rotor (main rotor) 11
And two rotors, a tail rotor (ladder) 12, and two rotors 1A and 7B of a stick lever device 7 shown in FIG.
Various flights are performed by changing the pitch angles 1 and 12.

More specifically, the stick device 7 shown in FIG.
When the right stick lever 7A is moved up and down (FIG. 1)
THR stick), engine throttle,
The engine power can be controlled by operating the carburetor. At the same time, main rotor 1
The angle (pitch) of 1 can be increased or decreased.

For example, when the stick lever 7A is moved upward from below, the engine power and the main rotor 11 are moved.
And the helicopter 1A rises. The increase or decrease of the pitch at that time is called "collective pitch", and the rudder is called "encon" (or "pitchcon").

When the right stick lever 7A of the stick device 7 in FIG. 2 is moved right and left (corresponding to the AIL stick in FIG. 1), the left and right movement of the helicopter 1A can be controlled. By operating the stick lever 7A, the pitch angle of the main rotor 11 changes periodically (cyclic pitch control), and the main rotor 11 is moved in the direction in which the stick lever 7A is moved.
Of the rotating surface tilts. This movement is called "roll axis", and its rudder is called "Aileron".

When the stick lever 7B on the left side of the stick device 7 in FIG. 2 is moved up and down (corresponding to the ELE stick in FIG. 1), the forward and backward movement of the helicopter 1A can be controlled. For example, when the stick lever 7B is moved upward (forward), the aircraft advances (or descends), and when the stick lever 7B is moved downward (forward), the aircraft retreats (or ascends). More specifically, when the rotation surface of the main rotor 11 is inclined by the cyclic pitch control of the main rotor 11, the main rotor 11 moves forward or backward. The inclination before and after this is called "pitch axis", and its rudder is called "elevator".

When the left stick lever 7B of the stick device 7 in FIG. 2 is moved right and left (corresponding to the RUD stick in FIG. 1), the left or right movement of the helicopter 1A in the nose direction can be controlled. For example, when the stick lever 7B is tilted right, the nose turns right, and when the stick lever 7B is tilted left, the nose turns left.

In the case of a helicopter provided with one main rotor 11 and one tail rotor 12 (single rotor helicopter), the stick lever 7
By the operation of B, the pitch of the tail rotor 12 can be increased or decreased to control the left or right movement in the nose direction. This left-right movement is called the "yaw axis" and its rudder is called the "rudder".

Trim switch 8 as output varying means
Are the two stick levers 7A of the stick device 7,
It is composed of four switches: an AIL trim switch 8a, an ELE trim switch 8b, a THR trim switch 8c, and a RUD trim switch 8d in the up, down, left and right directions of 7B. Each of the trim switches 8a to 8d changes the resistance value of the variable resistor with respect to the neutral position when the stick levers 7A and 7B are not operated to change the resistance value of the steered object 1.
, The amount of mixing for adjusting the servo output of the servo device can be varied.

A changeover switch 9 as a changeover means is provided on the main body of the transmitter 2, and is operated by a pilot to operate the switch 3.
Modes depending on the type of flight status (hovering mode,
The first sky mode and the second sky mode can be selectively switched.

More specifically, when the hovering mode is selected by the changeover switch 9, the stick lever 7A shown in FIGS. 6A and 6B stored in the storage means of the arithmetic processing means 4 in advance. The characteristic curve data (throttle curve and pitch curve data) indicating the servo output value corresponding to the manipulated variable of (1) is switched and selected and becomes usable.

When the first sky mode is selected by the changeover switch 9, the operation of the stick lever 7A as shown in FIGS. 7A and 7B previously stored in the storage means of the arithmetic processing means 4 is performed. The characteristic curve data (throttle curve and pitch curve data) indicating the servo output value according to the amount is switched and selected and becomes usable.

When the second sky mode is selected by the changeover switch 9, the operation of the stick lever 7A as shown in FIGS. 8A and 8B previously stored in the storage means of the arithmetic processing means 4 is performed. The characteristic curve data (throttle curve and pitch curve data) indicating the servo output value according to the amount is switched and selected and becomes usable.

The edit key 10 as a setting means is
It is composed of a plurality of keys provided on the main body of the transmitter 2 and is operated when performing various settings and setting changes. Specifically, the setting screen is displayed on the display screen of the display unit 14 of the transmitter 2, and the setting screen is operated to set the delay amount rate (0 to 100%). The edit key 10 changes the point data of the characteristic curve indicating the servo output value according to the operation amount of the stick levers 7A and 7B, specifically, changes the servo output value at the portions indicated by black circles in FIGS. Sometimes operated. The edit key 10 is also operated when setting "valid" or "invalid" of a mixing operation for operating a plurality of servo devices with one stick lever 7A (or 7B).

When pitch → ladder mixing is set to “valid” by operating the edit key 10, the servo output value corresponding to the operation amount of the stick lever 7 A (or 7 B) in the mode selected by the changeover switch 9 is displayed. The characteristic curve data shown in FIG. 6 (c) and FIG.
(C), any one of the pitches → the ladder mixing curve data in FIG. 8 (c) is switched and selected and becomes usable.

The servo output values according to the operation amounts of the stick levers 7A and 7B are not only related to the vertical movement of the stick lever 7A shown in FIGS. 6 to 8 (corresponding to the THR stick in FIG. 1) but also to the stick. Lever 7A, 7
B in other directions (AIL stick, ELE in FIG. 1)
Also, for example, if the storage unit of the arithmetic processing unit 4 is stored in advance for each mode, it is possible to select a switch by operating the switch 9.

The arithmetic processing means 4 is composed of, for example, a one-chip microcomputer, and includes a multiplexer 4a as switching selection means, an A / D conversion circuit 4b as data conversion means, a CPU 4c as control means, a processing program executed by the CPU 4c, and ROM (storage means) 4d in which characteristic curve data as shown in FIGS. 6 to 8 are stored, RAM 4e as storage means for sequentially updating and storing data and calculation results of the CPU 4c, and a timer circuit as timekeeping means 4f.

Multiplexer 4a as switching selection means
Is a multi-contact electronic switch, which is switched to one of the THR stick, AIL stick, ELE stick, and RUD stick in FIG. 1, and is variable according to the operation amount of the stick lever 7A (or 7B) of the selected stick. The resistance value (analog signal) of the variable resistor is input to the A / D conversion circuit 4b.

A / D conversion circuit 4 as data conversion circuit
“b” converts a resistance value according to the operation amount of the stick levers 7A and 7B input from the multiplexer 4a into a digital signal and outputs the digital signal to the CPU 4c.

The CPU 4c as a control circuit is constituted by, for example, a microprocessor having an internal counter. A signal from the A / D conversion circuit 4b, a signal from the trim switch 8, a signal from the changeover switch 9, and a signal from the edit key 10 are input to the CPU 4c. Based on the input, the CPU 4c changes various settings, determines whether or not the stick levers 7A and 7B are operated, calculates a delay amount, calculates a mixing amount, and performs a servo operation based on the processing program stored in the ROM 4d as storage means. Calculation of quantity, stick lever 7A, 7B
(Including the amount of trim operation of the trim switch 8 and the offset of the mixing amount at the time of switching of the changeover switch 9).

The timer circuit 4f measures the time for the CPU 4c to perform the mixing calculation processing and the servo output value calculation processing shown in FIGS. 4 and 5 for each frame (for example, 30 msec). Further, the timer circuit 4f includes a CPU
4c outputs an interrupt signal to the CPU 4c every time corresponding to the width of one bit of the serial signal output to the high frequency circuit 5.

As a result, the CPU 4c outputs the data for each channel including the operation amount of the servo device calculated internally to the high frequency circuit 5 as a baseband serial signal (operation signal) having a fixed frame length.

The high-frequency circuit 5 performs high-frequency modulation (for example, FM modulation) of data for each channel including the servo operation amount from the arithmetic processing circuit 4 and transmits the data as a radio wave from the antenna 6.

In the radio control apparatus for a model having the above configuration, the stick lever 7A (or 7
When B) is operated, a signal corresponding to the operation amount of the stick lever 7A (or 7B) is modulated at a high frequency and transmitted as a radio wave. Then, the receiver 13 mounted on the steered body 1 receives the radio wave from the transmitter 2 and demodulates it into data for each channel, and the demodulated signal operates the servo device.

FIG. 3 is a flowchart showing the overall operation of the transmitter 2 when the steered body 1 is remotely controlled.

As shown in FIG. 3, the processing executed on the transmitter 2 side is roughly divided into a setting / input processing, a mixing amount calculation processing, and a servo output value calculation processing. Then, the processing program is executed.

The setting / input process is a process that the pilot arbitrarily performs as necessary. For example, by operating the edit key 10, the servo output corresponding to the operation amount of each stick lever 7A, 7B is point-designated on the display screen of the display unit 14 provided in the transmitter 2 (for example, in FIGS. 6 to 8). (5 points indicated by black circles), can be variably set for each flight condition. In addition, by operating the edit key 10, the delay amount, the presence or absence of mixing, and the like can be set while checking the display screen.

In the mixing amount calculation process, the mixing amount of the trim switch 8 including the delay calculation is calculated according to the functional block diagram of FIG. 4 and the flowchart of FIG. This mixing amount calculation processing is executed every time, for example, 30 msec as one frame, which is monitored by the timer circuit 4f.

Note that the memory function in FIG. 4 indicates a function of temporarily storing data via the RAM 4e of the arithmetic processing means 4. The portion indicated by P in FIG. 4 illustrates a state in which either of the offset mixing data ofs or the mixing correction value calculation is selected depending on whether the initial value cnt of the counter is 0 or not, as a switch function.

First, the presence or absence of switching by operating the changeover switch 9 for selecting a set value according to the flight condition is detected (ST1). When the changeover switch 9 is switched (ST1-Yes), the change amount buf of the servo device during the delay operation is cleared to 0 (ST2). Then, the initial value (movement amount) cnt of the counter corresponding to the delay amount
Is set (ST3). The counter initial value cnt is the count start value CNT of the delay amount 100% (maximum value).
_{By the MAX} and the rate of the delay amount, CNT
It is calculated from _MAX × (rate / 100).

Next, the offset mixing data (mixing amount of the trim switch) old of one frame before is
The position sta of the servo device at the start of the delay is set (ST4). Then, this position sta is subtracted from the offset mixing data ofs, and the value is set as the movement amount mov of the servo performing the delay operation (ST4).
Further, the operation amount stk of the stick lever is set as the operation amount chk of the stick lever at the start of the delay (ST5). This set value is held until the next frame.

Next, the remaining movement amount of the servo device is calculated from the difference between the current position of the third device and the target position of the servo device to be originally reached. In the flowchart of FIG. 5, based on the initial value cnt of the counter, the movement amount mov of the servo device performing the delay operation, and the change amount buf of the servo device during the delay operation, (mov-buf) / cnt + b
uf, and the value is set to buf (ST
6).

Then, the remaining movement amount buf of the servo device is obtained.
Is added to the servo movement amount sta at the start of the delay, and the value obtained by subtracting the trim amount trm is obtained as a mixing amount mix.
(ST7). Thereafter, the initial value cnt of the counter is decremented by 1 (ST8), and the processing for one frame is completed.

In the above operation, if the changeover switch 9 is not switched (ST1-No), the initial value c of the counter is set.
It is determined whether or not nt is 0, in other words, whether or not the delay operation has been completed (ST9). The initial value cnt of the counter is not 0 (ST9-No), and the absolute value | stk- of the value obtained by subtracting the operation amount chk of the stick lever at the start of the delay from the operation amount stk of the stick lever.
If it is determined that chk | is equal to or smaller than the set value a and the stick lever is not operated (ST10-Yes), ST
The processing shifts to 6.

On the other hand, when | stk-chk | is larger than the set value a and it is determined that the stick lever has been operated (ST10-No), the initial value cnt of the counter is cleared to 0 (ST11) and the offset is set. The mixing data ofs is set to “old” as the offset mixing data of one frame before, and the mixing amount mi is set.
x is output (ST12). In ST9, if the initial value cnt of the counter is 0 (ST9-Y
es), the process proceeds to ST12.

The stick lever 7A (or 7B)
Is set as a threshold value for determining whether or not the stick lever 7A (or 7B) is operated. The setting value a can be changed as necessary by using the edit key 10 as a setting means.

When the mixing amount mix is calculated by the mixing amount calculation process, a servo output value calculation process is executed. In this servo output value calculation process, the stick movement amount stk and the trim movement amount trm are added to the mixing amount mix calculated in the mixing amount calculation process, and the value is calculated as the servo movement amount srv. This servo output value calculation process is also similar to the mixing amount calculation process.
For example, it is executed every time with 30 msec as one frame.

As described above, according to the above-described embodiment, when the stick lever 7A (or 7B) is operated to the set value a or more while the servo device (for example, the servo motor) is performing the delay operation, FIG. 5, the servo device operates immediately following the operation of the stick lever 7A (or 7B) without interrupting the delay operation without performing the processing of ST2 to ST8. That is, during the delay operation, the stick lever 7A
When (or 7B) is operated beyond the set value a, the servo output to the corresponding servo device including the operation amount by operating the stick lever 7A (or 7B) and the trim operation amount of the trim switch 8 is recalculated, The servo device operates immediately to that position. Thus, even during the delay operation, a quick correction rudder can be hit by operating the stick lever 7A (7B).

Further, even if the stick lever 7A (7B) is operated during the delay operation, the operation is performed as in the prior art.
Since the operation direction of the step operation or the delay operation is not reversed by the operation of the stick lever 7A (or 7B), the stick lever 7A during the delay operation is not used.
The operation of (7B) does not cause the body to fluctuate, so that stable steering can be performed.

[0068]

As is apparent from the above description, according to the present invention, when the stick lever is operated while the servo device is performing the delay operation, the delay operation is interrupted and the stick lever is immediately released. The servo device can be operated in accordance with the operation, and a quick correction steering can be performed by operating the stick lever even during the delay operation.

Further, even when the stick lever is operated during the delay operation, the operation direction of the two-stage operation or the delay operation does not reverse to the operation direction by the operation of the stick lever as in the related art. Aircraft does not fluctuate by operating the stick lever during delay operation,
Stable steering can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a transmitter of a radio control device for a model according to the present invention.

FIG. 2 is a perspective view of a model helicopter as a steered body equipped with a receiver and a transmitter.

FIG. 3 is a flowchart showing a schematic operation of a transmitter of the radio control device for a model according to the present invention.

FIG. 4 is a functional block diagram showing an example of a mixing calculation process in FIG. 3;

FIG. 5 is a flowchart showing an example of a mixing calculation process in FIG. 3;

FIG. 6 is a diagram showing characteristics of servo output values of a throttle, a pitch, and a pitch → ladder mixing with respect to a stick during hovering.

FIG. 7: Throttle, pitch, and pitch for a stick when performing a loop or stall turn in the sky →
Diagram showing the characteristics of each servo output value of ladder mixing

FIG. 8 is a diagram showing characteristics of servo output values of a throttle, a pitch, and a pitch → ladder mixing with respect to a stick when a roll is performed in the sky.

FIG. 9 is an operation flowchart in a case where a delay is operated only by an offset of a mixing amount by a trim switch when a conventional changeover switch is switched.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... steered body, 2 ... transmitter, 4 ... arithmetic processing means, 7A,
7B: stick lever, 8: trim switch (variable output means), 9: changeover switch (changeover means), 13: receiver.

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-1-256296 (JP, A) JP-A-1-91890 (JP, A) JP-A-1-208097 (JP, A) JP-A-1- 276993 (JP, A) JP-A-1-256295 (JP, A) JP-A-1-72786 (JP, A) JP-A-8-239096 (JP, A) JP-A-2-24695 (JP, U) Japanese Utility Model Application Hei 6-9697 (JP, U) Japanese Utility Model Application Hei 3-116895 (JP, U) (58) Fields studied (Int. Cl. ⁷ , DB name) A63H 1/00-37/00 G05D 1/00

Claims (3)

(57) [Claims] 1. A plurality of types of characteristic data indicating servo output of a servo device of a steered body with respect to an operation amount of a stick lever are stored, and the characteristic data can be switched and selected according to an operation state of the steered body. Means for transmitting an operation signal including servo output data corresponding to the operation amount of the stick lever from the characteristic data switched and selected by the switching means; and a transmitter based on the operation signal transmitted from the transmitter. A radio control device for a model, comprising: a receiver mounted on the steered body for controlling an output of the servo device. An output variable for varying a servo output of the servo device with respect to a neutral position of the stick lever. Means, wherein the stick lever is not operated beyond a set value, and the characteristic data is switched by the switching means. When it is,
A delay operation of the offset amount by the output variable means is transmitted, and when the stick lever is operated by a set value or more during the delay operation, the delay operation is interrupted and a characteristic according to the operation amount of the stick lever is interrupted. A radio control apparatus for a model, comprising: an arithmetic processing means for transmitting a servo output of data to the transmitter. 2. A plurality of types of characteristic data indicating servo outputs of a plurality of servo devices of the steered body with respect to an operation amount of one stick lever are stored, and are switched and selected by the switching means to one of the characteristic data. The radio control device for a model according to claim 1. 3. The arithmetic processing means includes an operation amount by operating the stick lever and a variable amount by the output varying means when the stick lever is operated at a set value or more during the delay operation. 3. The radio control device for a model according to claim 1, wherein the servo output to the servo device is recalculated.